Related papers: Element-based Formation Control: a Unified Perspec…
This work presents a unified viscoelastic-viscoplastic continuum framework for modeling rate-dependent granular flows across regimes. The formulation incorporates two distinct rate-dependent mechanisms, namely micro-inertia and viscoelastic…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering…
In this paper, we introduce DC (Decouple)-ControlNet, a highly flexible and precisely controllable framework for multi-condition image generation. The core idea behind DC-ControlNet is to decouple control conditions, transforming global…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
This work describes models and numerical approximations that describe the mechanical behavior of deformable continua with embedded structural members, such as rigid bodies, beams, shells, etc. The continuum formulation extends an idea first…
Fluid deformation controls myriad processes in random flows including mixing and dispersion, stress development in complex fluids, colloid transport and deposition, droplet breakup and emulsification, fluid-structure interaction, chemical…
In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
We develop a unified continuum modeling framework for viscous fluids and hyperelastic solids using the Gibbs free energy as the thermodynamic potential. This framework naturally leads to a pressure primitive variable formulation for the…
The third medium contact method has recently come into popularity as an alternative to traditional contact methods in contexts where search for contact boundaries is problematic, i.e. topology optimization. To enforce the contact…
Due to the potential application of regulating droplet shape by external fields in microfluidic technology and micro devices, it becomes increasingly important to understand the shape formation of a droplet in the presence of an electric…
In this thesis, I investigate how to construct a self-consistent model of deformed general relativity using canonical methods and metric variables. The specific deformation of general covariance is predicted by some studies into loop…
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE) is proposed to model the…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
We present a simple variational framework for planar elastica that enables distributed energies, such as gravitational loading or magnetic body torques, to be incorporated in a modular and unified manner. The formulation is based on…